CN113942547B - Intelligent control system and method for self-propelled electrically-driven hot metal mixer car - Google Patents

Intelligent control system and method for self-propelled electrically-driven hot metal mixer car Download PDF

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Publication number
CN113942547B
CN113942547B CN202111161564.XA CN202111161564A CN113942547B CN 113942547 B CN113942547 B CN 113942547B CN 202111161564 A CN202111161564 A CN 202111161564A CN 113942547 B CN113942547 B CN 113942547B
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China
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vehicle
control
real
car
self
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CN113942547A (en
Inventor
张泓滨
伍文宇
刘晓东
葛光
韩勇涛
申亮
王松
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DALIAN HUARUI HEAVY INDUSTRY COKE OVEN VEHICLE EQUIPMENT CO LTD
Dalian Huarui Heavy Industry Group Co Ltd
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DALIAN HUARUI HEAVY INDUSTRY COKE OVEN VEHICLE EQUIPMENT CO LTD
Dalian Huarui Heavy Industry Group Co Ltd
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Priority to CN202111161564.XA priority Critical patent/CN113942547B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/12—Travelling ladles or similar containers; Cars for ladles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D46/00—Controlling, supervising, not restricted to casting covered by a single main group, e.g. for safety reasons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/32—Driving direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides an intelligent control system and method for a self-propelled electrically-driven hot metal mixer car. The system comprises a position sensor for detecting the real-time position of the vehicle, a motion sensor for detecting the real-time running state of the vehicle, a storage module for storing a control list, a control module for controlling the running of the whole vehicle, a power battery for providing electric energy for each module of the whole vehicle and a plurality of driving motors for driving a vehicle executing mechanism, wherein the control list is used for storing control parameters, and the real-time position of the vehicle and the real-time running state of the vehicle are corresponding to the control parameters. The invention greatly improves the environmental protection property of the transportation link of the hot metal mixer car and ensures the high efficiency of the system operation.

Description

Intelligent control system and method for self-propelled electrically-driven hot metal mixer car
Technical Field
The invention relates to a control system of manufacturing machinery, in particular to an intelligent control system and method of a self-propelled electrically-driven hot metal mixer car.
Background
At present, the transportation of the hot metal mixer car is mainly finished by traction of an internal combustion locomotive, and energy is consumed in the transportation process due to the exhaust emission of the internal combustion locomotive and the movement process of the internal combustion locomotive, so that the energy efficiency of a transportation mechanism of the hot metal mixer car is low and air is polluted.
Disclosure of Invention
According to the technical problem that the transportation energy efficiency of the hot metal mixer car is low by means of traction of the diesel locomotive, the intelligent control system and the intelligent control method of the self-propelled electrically-driven hot metal mixer car are provided. In order to greatly improve the energy conservation and environmental protection of the transportation link of the hot metal mixer car, the invention provides an intelligent control system and method of the hot metal mixer car driven by electric energy only.
The invention adopts the following technical means:
an intelligent control system of a self-propelled electrically driven hot metal mixer car, comprising: the vehicle control system comprises a position sensor for detecting the real-time position of a vehicle, a motion sensor for detecting the real-time running state of the vehicle, a storage module for storing a control list, a control module for controlling the running of the whole vehicle, a power battery for providing electric energy for each module of the whole vehicle and a plurality of driving motors for driving a vehicle executing mechanism, wherein the control list is used for storing control parameters, and the real-time position of the vehicle and the real-time running state of the vehicle are corresponding to the control parameters;
the position sensor and the motion sensor are respectively connected with a detection port of the control module, the storage module is connected with a query port of the control module, and the power battery and the driving motor are respectively connected with a control port of the control module;
when the control system works, the control module queries a control list according to the real-time position information of the vehicle and the real-time running state information of the vehicle detected by the position sensor and the motion sensor, so as to obtain corresponding control parameters, and the control module generates control signals according to the obtained control parameters to respectively control the working states of the power battery and the driving motor.
Further, the vehicle real-time running state includes a vehicle running direction, a vehicle speed, and a vehicle acceleration.
Further, the vehicle actuator includes wheels and a pneumatic pump.
Further, the first row of the control list represents the real-time position of the vehicle, the first row represents the real-time running state of the vehicle, and the control parameters stored in the control list are optimal working state parameters corresponding to the real-time position of the vehicle and the real-time running state of the vehicle.
Further, the optimal working state parameters are obtained through experiments under set working conditions, wherein the parameters are obtained through off-line simulation.
The invention also discloses an intelligent control method of the self-propelled electrically-driven hot metal mixer car, which is realized based on the intelligent control system of the self-propelled electrically-driven hot metal mixer car, and comprises the following steps:
detecting the real-time position of the vehicle through a position sensor; detecting a real-time running state of the vehicle through a motion sensor;
inquiring a control list according to the acquired real-time position and real-time running state of the vehicle, thereby acquiring corresponding control parameters;
and controlling the power battery and the driving motor to run according to the control parameters.
Further, the first row of the control list represents the real-time position of the vehicle, the first row represents the real-time running state of the vehicle, and the control parameters stored in the control list are optimal working state parameters corresponding to the real-time position of the vehicle and the real-time running state of the vehicle.
Further, the optimal working state parameters are obtained through experiments under set working conditions, wherein the parameters are obtained through off-line simulation.
Compared with the prior art, the invention has the following advantages:
the invention applies a global optimal control strategy to optimize the efficiency of the power control system of the self-propelled electrically-driven hot metal mixer car to the greatest extent, thereby improving the equipment as follows: 1. the energy consumption of the whole vehicle is reduced to the greatest extent, and the economical efficiency of equipment is improved; 2. the whole life cycle cost of the whole vehicle is reduced to the greatest extent, and the competitiveness of the product is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic diagram of the power control system of the self-propelled electrically-driven hot metal mixer car.
Fig. 2 is a flow chart of a control method of a power system of a self-propelled electrically-driven hot metal mixer car.
In the figure: 1. a position detection sensor; 2. a state detection sensor; 3. a storage module; 4. the whole vehicle control module; 5. a power battery; 6. and driving the motor.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As shown in fig. 1, the present invention provides an intelligent control system for a self-propelled electrically driven hot metal mixer car, comprising: the vehicle real-time position and vehicle real-time running state correspond to control parameters; the position sensor and the motion sensor are respectively connected with a detection port of the control module, the storage module is connected with a query port of the control module, and the power battery and the driving motor are respectively connected with the control port of the control module; when the control system works, the control module queries a control list according to the real-time position information of the vehicle and the real-time running state information of the vehicle detected by the position sensor and the motion sensor, so as to obtain corresponding control parameters, and the control module generates control signals according to the obtained control parameters to respectively control the working states of the power battery and the driving motor.
The real-time running state of the vehicle comprises a running direction of the vehicle, a speed of the vehicle and acceleration of the vehicle, and the data are measured through a built-in rotating speed encoder of the motor and a coaxial rotating speed encoder of a driven wheel. The vehicle actuator includes wheels and a pneumatic pump.
In the invention, the first row of the control list stored by the storage module represents the real-time position of the vehicle, the first row represents the real-time running state of the vehicle, and the control parameters stored by the control list are the optimal working state parameters corresponding to the real-time position of the vehicle and the real-time running state of the vehicle. The optimal working state parameters are obtained through experiments under set working conditions, wherein the parameters are obtained through off-line simulation.
Specifically, the whole vehicle control module obtains the searched optimal control scheme under different mass center positions, different cargo masses and different track positions by calculating the mass center positions and the cargo masses of the whole vehicle according to the data information transmitted by the sensor unit, and the optimal control scheme comprises the parameter characterization such as the running motor rotating speed, the torque, the air pump motor rotating speed, the motor radiator rotating speed and the like. The optimal control scheme is a global optimal control strategy obtained under the working conditions that the whole vehicle model is operated and set in an off-line simulation mode. The global optimal control strategy is manufactured into a table look-up module for the vehicle to use in the running control of the whole vehicle when the vehicle runs at different running positions. The global optimal control strategy is a table look-up function, the abscissa of the table is the current position of the whole vehicle, and the ordinate is the optimal working state parameters of the power battery and each driving motor at the next moment. In the invention, the global optimal control strategy is obtained by optimizing with the lowest whole-course energy consumption as a target.
The advanced control strategies available at present mainly comprise model predictive control, fuzzy control, neural network control, sliding mode variable structure control and the like, and the control strategies can reduce the energy consumption in the running process of the vehicle, reduce the running cost and increase the market competitiveness of the product. However, due to the complex and various running conditions of the vehicle, the control strategy has limited effect on improving the practicability of the running of the vehicle. If the energy-saving potential of the vehicle is to be exerted to the maximum extent, the global optimal control is the current optimal control method, however, the global optimal control needs to define working condition parameters of all driving routes of the vehicle in advance, which is almost impossible to realize for the common vehicle.
The self-propelled electrically-driven hot metal mixer car is used for transporting molten iron in a steel mill, and can accurately position the current position of the self-propelled electrically-driven hot metal mixer car and adjust the running parameters of the self-propelled electrically-driven hot metal mixer car according to the road conditions in front through positioning sensors and controllers arranged along the track and on the vehicle. Because the transportation of the self-propelled electrically-driven hot metal mixer car has a detailed production plan, the running track of the self-propelled electrically-driven hot metal mixer car can be determined in advance. This provides a prerequisite for the application of the global optimal control strategy.
The invention also discloses an intelligent control method of the self-propelled electrically-driven hot metal mixer car, which is realized based on the intelligent control system of the self-propelled electrically-driven hot metal mixer car, as shown in fig. 2, and mainly comprises the following steps:
s1, detecting the real-time position of a vehicle through a position sensor; the real-time running state of the vehicle is detected by a motion sensor. Specifically, the accurate position of the vehicle in a fixed track is measured by a whole vehicle position sensor, and the current running state (direction, vehicle speed, acceleration and the like) of the whole vehicle is detected by a motion sensor.
S2, inquiring a control list according to the acquired real-time position and the real-time running state of the vehicle, so as to acquire corresponding control parameters. Specifically, the control system of the whole car receives the accurate position and the running state of the whole car measured in the step S1, and obtains a control strategy to be used for molten iron transportation at the moment through table lookup. The look-up table here is used to select the control strategy to be used in this trip, which is determined by the offline simulation described above. The accurate position of the whole car is listed as the current running state of the whole car, and the optimal control variable parameters required by the power battery and the driving motor of the hybrid car at the next moment are determined according to the row and the column.
And S3, controlling the power battery and the driving motor to run according to the control parameters. Specifically, the actual running state of the metal mixer is kept consistent with the control parameters obtained by table lookup through the motion control unit.
The system provided by the embodiment is applied to the self-propelled steel 335t metal mixer project. The control method is applied to the self-propelled electrically-driven hot metal mixer car, so that the energy consumption of the self-propelled electrically-driven hot metal mixer car is reduced to the greatest extent, the turnover rate of the hot metal mixer car is improved, the economical efficiency of the self-propelled electrically-driven hot metal mixer car is improved, the total life cycle cost of the developed self-propelled electrically-driven hot metal mixer car is reduced, and meanwhile, the control method is high in control reliability. In conclusion, the use of the control method can significantly enhance the market competitiveness and economic benefit of the product.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (8)

1. An intelligent control system of a self-propelled electrically driven hot metal mixer car, comprising: the vehicle control system comprises a position sensor for detecting the real-time position of a vehicle, a motion sensor for detecting the real-time running state of the vehicle, a storage module for storing a control list, a control module for controlling the running of the whole vehicle, a power battery for providing electric energy for each module of the whole vehicle and a plurality of driving motors for driving a vehicle executing mechanism, wherein the control list is used for storing control parameters, and the real-time position of the vehicle and the real-time running state of the vehicle are corresponding to the control parameters;
the position sensor and the motion sensor are respectively connected with a detection port of the control module, the storage module is connected with a query port of the control module, and the power battery and the driving motor are respectively connected with a control port of the control module;
when the control system works, the control module queries a control list according to the real-time position information of the vehicle and the real-time running state information of the vehicle detected by the position sensor and the motion sensor so as to obtain corresponding control parameters, and the control module generates control signals according to the obtained control parameters to respectively control the working states of the power battery and the driving motor, and the control system comprises:
the control module obtains an optimal control scheme according to the mass center position of the whole vehicle, the obtaining quality and the vehicle track position table lookup, wherein the optimal control scheme is obtained by the whole vehicle model under the working conditions of off-line simulation operation and setting, and comprises the running motor rotating speed, the torque, the air pump motor rotating speed and the motor radiator rotating speed.
2. The intelligent control system of a self-propelled electrically and electrically hybrid vehicle as set forth in claim 1, wherein the vehicle real-time operating conditions include vehicle travel direction, vehicle speed, and vehicle acceleration.
3. The intelligent control system of a self-propelled electrically-driven hot metal mixer car of claim 1, wherein the vehicle actuator comprises wheels and a pneumatic pump.
4. The intelligent control system of a self-propelled electrically-driven hot metal mixer car according to claim 1, wherein the first row of the control list represents a real-time position of the car, the first row represents a real-time running state of the car, and the control parameters stored in the control list are optimal working state parameters corresponding to the real-time position of the car and the real-time running state of the car.
5. The intelligent control system of the self-propelled electrically-driven hot metal mixer car according to claim 4, wherein the optimal working state parameter is obtained through an experiment under a set working condition, wherein the experiment is obtained through an off-line simulation.
6. An intelligent control method of a self-propelled electrically driven hot metal mixer car, based on the intelligent control system of the self-propelled electrically driven hot metal mixer car as set forth in any one of claims 1 to 5, comprising the steps of:
detecting the real-time position of the vehicle through a position sensor; detecting a real-time running state of the vehicle through a motion sensor;
inquiring a control list according to the acquired real-time position and real-time running state of the vehicle, thereby acquiring corresponding control parameters;
and controlling the power battery and the driving motor to run according to the control parameters.
7. The intelligent control method of a self-propelled electrically-driven hot metal mixer car according to claim 6, wherein the first row of the control list represents a real-time position of the car, the first row represents a real-time running state of the car, and the control parameters stored in the control list are optimal working state parameters corresponding to the real-time position of the car and the real-time running state of the car.
8. The intelligent control method of the self-propelled electrically driven hot metal mixer car according to claim 7, wherein the optimal working state parameter is obtained through experiments under set working conditions, wherein the parameters are obtained through off-line simulation.
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CN104238557A (en) * 2013-06-18 2014-12-24 库卡实验仪器有限公司 Automated Guided Vehicle And Method Of Operating An Automated Guided Vehicle
CN108646731A (en) * 2018-04-17 2018-10-12 上海创昂智能技术有限公司 Automatic driving vehicle field end control system and its control method
CN109062161A (en) * 2018-08-23 2018-12-21 大连重工环保工程有限公司 A kind of tank switching station automatic tapping control system
CN111497640A (en) * 2020-04-28 2020-08-07 风氢扬科技(杭州)有限公司 Multi-energy hybrid power control method, device and system for fuel cell vehicle
CN215883679U (en) * 2021-09-30 2022-02-22 大连华锐重工冶金设备制造有限公司 Intelligent control system of self-propelled electrically-driven molten iron mixing vehicle

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